3D force prediction using fingernail imaging with automated calibration
3D force prediction using fingernail imaging with automated calibration
复制标题
使用具有自动校准功能的指甲成像进行 3D 力预测
DOI：
10.1109/haptic.2010.5444669
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
S. Mascaro
中科院分区：
文献类型：
--
作者：
Thomas Grieve;L. Lincoln;Yu Sun;J. Hollerbach;S. Mascaro
本文演示了一种使用指甲成像进行 3D 力预测的系统，其中使用人类指甲的视频图像来预测手指与平坦表面接触时产生的法向力和剪切力。自动校准使用磁悬浮触觉设备（MLHD），其地板经过修改，可以向人类指腹施加力。该系统能够准确预测力，法向力的 RMS 误差为 0.3N，为 10N 满量程的 6%；剪切力误差为 0.3N，为 ±2.5N 满量程的 3%。本文还证明，在 100 到 500 像素之间改变用于表示手指的像素数量对结果影响很小，这表明实时应用程序可以使用低分辨率图像而不会损失准确性。
This paper demonstrates a system for 3D force prediction using fingernail imaging, in which video images of the human fingernail are used to predict the normal and shear forces that occur when the finger is in contact with a flat surface. The automated calibration uses a magnetic levitation haptic device (MLHD) whose flotor has been modified to apply forces to the human fingerpad. The system accurately predicts forces with an RMS error of 0.3N normal force, 6% of the full range of 10N, and a shear force error of 0.3N, 3% of the full range of ±2.5N. This paper also demonstrates that varying the number of pixels used to represent the finger between 100 and 500 pixels has little effect on the results, indicating that a real-time application could use low-resolution images without loss of accuracy.